Agricultural robot design, production and image processing based control with FPGA

Today, robotization continues unabated in many areas. Another area where robotization is gaining momentum is the agricultural sector. Nowadays, when the world population is increasing, resources are decreasing and the basic input costs of agricultural products are increasing, the aim is to use robots to produce more efficient agricultural products with cleaner energy and less resource usage. In this thesis study, an agricultural robot was designed and controlled with FPGA. The agricultural robot, which will work autonomously, carries out the plowing process with the digger mechanism on the back to prepare the agricultural field for seed planting. It is aimed to provide a strong and stable maneuverability in agricultural land by using four wheels for propulsion and steering. Field borders are defined with a white strip drawn along the field borders. White stripes at field borders were detected by image processing. LiDAR sensor was used for distance detection. The PYNQ-Z1 FPGA card was used in the study and thus it was shown that FPGAs can be successfully applied to the agricultural field.